CN108811529B - A kind of torque loading device for real-time closed-loop feedback system - Google Patents
A kind of torque loading device for real-time closed-loop feedback system Download PDFInfo
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- CN108811529B CN108811529B CN201318004229.9A CN201318004229A CN108811529B CN 108811529 B CN108811529 B CN 108811529B CN 201318004229 A CN201318004229 A CN 201318004229A CN 108811529 B CN108811529 B CN 108811529B
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Abstract
The present invention provides a kind of torque loading device：Disc type DC brushless motor, planetary reduction gear, erection support, angular encoder, laser readings head device, straight-tooth wheel decelerator, torque sensor, shaft coupling and o adapter；The straight-tooth wheel decelerator is made of the large and small gear engaged；The o adapter and shaft coupling are socketed；The shaft coupling other end is socketed torque sensor；The other end of the torque sensor covers in shaft, and the shaft is positioned by erection support, and the gear wheel and angular encoder of straight-tooth wheel decelerator sequentially pass through the shaft；The laser readings head device reads the corner of the angular encoder；The other end of the connection coaxial with planetary reduction gear of the pinion gear of the straight-tooth wheel decelerator, the planetary reduction gear connects disc type DC brushless motor.
Description
Technical field
The present invention relates to a kind of torque loading devices for real-time closed-loop feedback system, it can be realized simultaneously
Corner, tachometric survey and the load of loading moment closed loop.
Technical background
The load of many spaces driving mechanisms such as large size solar battery array, large span antenna, be all small quality,
Large scale, the flexible structure of Low rigidity.Since gravity and air drag influence under ground environment, can not carry out
Driving mechanism performance test.Main solution all uses rigid inertia disc fictitious load both at home and abroad at present, but
This method major defect is that the kinetic characteristics of real flexible load can not be simulated.Therefore, it is necessary to develop one
Kind can simulate the closed loop feedback torque loading device of alternation flexible load torque.
Currently without the explanation or report for finding technology similar to the present invention, also not yet it is collected into similar both at home and abroad
Data.
Summary of the invention
Problems solved by the invention is to provide a kind of closed loop feedback torque that can simulate alternation flexible load torque
Loading device, to solve described problem, the present invention provides a kind of torque loading device.
Torque loading device provided by the present invention can be used for real-time closed-loop feedback system, including：Disc type direct current without
Brush motor, planetary reduction gear, erection support, angular encoder, laser readings head device, straight-tooth wheel decelerator,
Torque sensor, shaft coupling and o adapter；The straight-tooth wheel decelerator is made of the large and small gear engaged；
The o adapter and shaft coupling are socketed；The shaft coupling other end is socketed torque sensor；The torque
The other end of sensor covers in shaft, and the shaft is positioned by erection support, the canine tooth of straight-tooth wheel decelerator
Wheel and angular encoder sequentially pass through the shaft；The laser readings head device reads turning for the angular encoder
Angle；The connection coaxial with planetary reduction gear of the pinion gear of the straight-tooth wheel decelerator, the planetary reduction gear is in addition
One end connects disc type DC brushless motor.
Further, the torque sensor, shaft coupling, o adapter, disc type DC brushless motor, row
Star retarder is in the ipsilateral of erection support；Straight-tooth wheel decelerator, angular encoder, laser readings head device are being installed
The other side of bracket.
Further, the straight-tooth wheel decelerator includes two gear wheels, and is nibbled simultaneously with described two gear wheels
The pinion gear of conjunction；Described two gear wheel cross-section structures are identical, and the teeth of two gear wheels have dislocation.
Further, the o adapter is connect with external driving motor, after external drive motors operating,
The angular encoder is servo-actuated, and laser readings head device collects the corner of angular encoder；The corner is by surveying
Control system calculates external drive motors rotation acceleration except conditioning of making an uproar, difference, and is supplied to external control and calculates
Input of the machine as simulation external drive motors loading kinetics model.
Further, the external control computer calculates reaction torque in real time, and with control instruction drive disk
The load of formula DC brushless motor, loading moment is after planetary reduction gear and the amplification of straight-tooth wheel decelerator, by defeated
Adapter is loaded on the output shaft of external driving motor out, completes a loading cycle.
Further, in a loading cycle, disc type DC brushless motor (1) is monitored by torque sensor (6)
Loading accuracy introduces compensation control, and add at one if load data and load control instruction have deviation
Closed-loop control is realized in load period.The systematic survey load control period is less than 1ms.
The present invention realizes the torque loading device that can be applied to real-time closed-loop feedback system, which can be same
Shi Shixian corner, tachometric survey and the load of loading moment closed loop.In the dynamic performance testing of space flight driving mechanism
It will play an important role, with measurement and loading accuracy height, structure size, small, high reliablity, versatility are good
The advantages that.
Detailed description of the invention
Fig. 1 is torque loading device outside drawing；
Fig. 2 is torque loading device internal structure schematic diagram；
Fig. 3 is torque loading device sectional view；
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples：
In conjunction with reference Fig. 1 and Fig. 2, torque clip provided by the present invention can be used for real-time closed-loop feedback in device
System, including：Disc type DC brushless motor 1, planetary reduction gear 2, erection support 3, angular encoder 401,
Laser readings head device 402, straight-tooth wheel decelerator 5, torque sensor 6, shaft coupling 8 and o adapter 7；
The straight-tooth wheel decelerator 5 is made of the large and small gear engaged；The o adapter 7 and shaft coupling 8
Socket；8 other end of shaft coupling is socketed torque sensor 6；Other the one of the torque sensor 6
In shaft, the shaft is positioned end cap by erection support 3, the gear wheel and angle of straight-tooth wheel decelerator 5
Encoder 401 sequentially passes through the shaft；The laser readings head device 402 reads the angular encoder 401
Corner；The connection coaxial with planetary reduction gear 2 of the pinion gear of the straight-tooth wheel decelerator 5, the planet subtract
The other end of fast device 2 connects disc type DC brushless motor 1.
Working principle is that o adapter 7 is connect with external driving motor, when external drive motors operate
Afterwards, the angular encoder 401 inside the present apparatus is servo-actuated, and laser readings head device 402 will collect angular coding
401 corner of device, by TT&C system except conditioning of making an uproar, difference calculates external drive motors rotation acceleration,
And it is supplied to input of the control computer as computer simulation external drive motors loading kinetics model.Control
Computer processed calculates reaction torque in real time, and is loaded with control instruction driving disc type DC brushless motor 1,
Loading moment passes through o adapter after planetary reduction gear 2 and straight-tooth wheel decelerator 5 amplify 100 times
7 are loaded on the output shaft of external driving motor, complete a loading cycle.Meanwhile it being loaded at one
1 loading accuracy of disc type DC brushless motor is monitored by torque sensor 6 in period, if loading data and adding
Carrying control instruction has deviation, then introduces compensation control, and realize closed-loop control in a loading cycle.System
The unified test amount load control period is less than 1ms.
Fig. 3 is torque loading device sectional view, as seen from the figure, to ensure entire torque loading device axial direction ruler
Very little smaller, nested 2 output shaft of planetary reduction gear of disc type DC brushless motor 1 and torque in the present invention load
8 axis of device o adapter is parallel to each other, the connection by straight-tooth wheel decelerator 5 as " U-shaped " circuit,
And form additional no less than 3: 1 reduction ratio.To ensure torque load without return difference, using split type spur gear
Retarder 5, so that it is guaranteed that return difference gap is zero in revolving speed handoff procedure.
For the component function that other are not described, by attached drawing, it is apparent that and being ordinary skill
Known to personnel, it is not described in detail one by one herein.
It should be noted that above-mentioned carries out schematical illustration and description to the present invention, to of the invention any
Modification and replacement, belong to protection scope of the present invention.
Claims (3)
1. a kind of torque loading device, which is characterized in that including：Disc type DC brushless motor (1), planet
Retarder (2), erection support (3), angular encoder (401), laser readings head device (402), spur gear
Retarder (5), torque sensor (6), o adapter (7) and shaft coupling (8)；The spur gear subtracts
Fast device (5) is made of the large and small gear engaged；The o adapter (7) and shaft coupling (8) are socketed；
Shaft coupling (8) other end is socketed torque sensor (6)；Other the one of the torque sensor (6)
End cap in shaft, the shaft by erection support (3) position, the gear wheel of straight-tooth wheel decelerator (5) and
Angular encoder (401) sequentially passes through the shaft；The laser readings head device (402) reads the angle
The corner of encoder (401)；The pinion gear of the straight-tooth wheel decelerator (5) and planetary reduction gear (2) are altogether
The other end of axis connection, the planetary reduction gear (2) connects disc type DC brushless motor (1)；
The o adapter (7) connect with external driving motor, after external drive motors operating, institute
It states angular encoder (401) to be servo-actuated, laser readings head device (402) collects angular encoder (401) and turns
Angle；For the corner by TT&C system except conditioning of making an uproar, difference calculates external drive motors rotation acceleration, and
It is supplied to input of the external control computer as simulation external drive motors loading kinetics model；
The external control computer calculates reaction torque in real time, and drives disc type brush DC with control instruction
Motor (1) load, after loading moment amplifies by planetary reduction gear (2) and straight-tooth wheel decelerator (5),
It is loaded on the output shaft of external drive motors by o adapter (7), completes a loading cycle；
In one loading cycle, added by torque sensor (6) monitoring disc type DC brushless motor (1)
Precision is carried, if load data and load control instruction have deviation, introduces compensation control, and load at one
Closed-loop control is realized in period；
The torque loading device measurement load control period is less than 1ms.
2. torque loading device according to claim 1, which is characterized in that the torque sensor (6),
Shaft coupling (8), o adapter (7), disc type DC brushless motor (1), planetary reduction gear (2) are being pacified
Fill the ipsilateral of support (3)；Straight-tooth wheel decelerator (5), angular encoder (401), laser readings head device (402)
In the other side of erection support (3).
3. torque loading device according to claim 1, which is characterized in that the straight-tooth wheel decelerator
It (5) include two gear wheels, and the pinion gear engaged simultaneously with described two gear wheels；It is described two big
Gear cross-section structure is identical, and the teeth of two gear wheels have dislocation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201318004229.9A CN108811529B (en) | 2013-08-27 | 2013-08-27 | A kind of torque loading device for real-time closed-loop feedback system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201318004229.9A CN108811529B (en) | 2013-08-27 | 2013-08-27 | A kind of torque loading device for real-time closed-loop feedback system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108811529B true CN108811529B (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201318004229.9A Active CN108811529B (en) | 2013-08-27 | 2013-08-27 | A kind of torque loading device for real-time closed-loop feedback system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108811529B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915546A (en) * | 2019-04-08 | 2019-06-21 | 曹林 | A kind of method and system improving micro- Gear Planet Transmission closed loop system precision |
| CN110989711A (en) * | 2019-12-23 | 2020-04-10 | 清华大学 | Load and service life testing equipment for unmanned motorcycle active balancing device |
| CN113984382A (en) * | 2021-12-27 | 2022-01-28 | 四川诚邦浩然测控技术有限公司 | Angle sensor installation tool |
-
2013
- 2013-08-27 CN CN201318004229.9A patent/CN108811529B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915546A (en) * | 2019-04-08 | 2019-06-21 | 曹林 | A kind of method and system improving micro- Gear Planet Transmission closed loop system precision |
| CN110989711A (en) * | 2019-12-23 | 2020-04-10 | 清华大学 | Load and service life testing equipment for unmanned motorcycle active balancing device |
| CN113984382A (en) * | 2021-12-27 | 2022-01-28 | 四川诚邦浩然测控技术有限公司 | Angle sensor installation tool |
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| DC01 | Secret patent status has been lifted |